| 用小波插值方法实现移动机器人的轨迹追踪控制 |
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| 引用本文： | 郭琦,洪炳熔.用小波插值方法实现移动机器人的轨迹追踪控制[J].计算机研究与发展,2003,40(6):856-860. |
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| 作者姓名： | 郭琦 洪炳熔 |
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| 作者单位： | 哈尔滨工业大学计算机科学与工程学院,哈尔滨,150001 |
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| 基金项目： | 国家“八六三”高技术研究发展计划项目基金 ( 2 0 0 1AA42 2 2 70 ) |
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| 摘 要： | 基于动力学模型方程，利用小波插值方法，对移动机器人的轨迹追踪控制问题，给出了一种新的方法．该方法在有限时间内，实现了转动速度、前进速度均不为零的期望轨迹追踪．它的突出特点是计算量小、方法简单，期望轨迹可为任意复杂的非线性曲线．在仿真实验里，取得了理想的效果．
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| 关 键 词： | 轨迹追踪 移动机器人 小波插值 |
Tracking Control for Mobile Robots by Using the Wavelet Interpolation Method |
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| GUO Qi and HONG Bing-Rong.Tracking Control for Mobile Robots by Using the Wavelet Interpolation Method[J].Journal of Computer Research and Development,2003,40(6):856-860. |
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| Authors: | GUO Qi and HONG Bing-Rong |
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| Abstract: | Presented in this paper is a trajectory tracking control method for the mobile robots based on the dynamic equations by using the wavelet interpolation method. The proposed control method enables the mobile robots track the desired trajectory in finite time when the rotational velocity and the forward velocity are both nonzero. More evident advantages of the proposed control method include less computation demand, more simple method and its desired trajectory being any complex nonlinear curve. Simulation results show its effectiveness. |
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| Keywords: | tracking control mobile robot wavelet interpolation |
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